Proportional Retarded Control of Robot Manipulators
In the present contribution, a methodology to solve the tracking control problem of robot manipulators through the use of a Proportional Retarded plus Gravity (PR+G) compensation scheme is presented. The main advantage of the proposal is to avoid the necessity of velocity measurements or their estim...
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
IEEE
2019-01-01
|
| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8610222/ |
| _version_ | 1818617817498386432 |
|---|---|
| author | Mario Ramirez-Neria Gilberto Ochoa-Ortega Alberto Luviano-Juarez Norma Lozada-Castillo Miguel Angel Trujano-Cabrera Juan Pablo Campos-Lopez |
| author_facet | Mario Ramirez-Neria Gilberto Ochoa-Ortega Alberto Luviano-Juarez Norma Lozada-Castillo Miguel Angel Trujano-Cabrera Juan Pablo Campos-Lopez |
| author_sort | Mario Ramirez-Neria |
| collection | DOAJ |
| description | In the present contribution, a methodology to solve the tracking control problem of robot manipulators through the use of a Proportional Retarded plus Gravity (PR+G) compensation scheme is presented. The main advantage of the proposal is to avoid the necessity of velocity measurements or their estimation, which is commonly used in most control schemes, such as the proportional derivative-type controllers or the computed torque control. The design of the PR+G controller is addressed via σ-stability analysis and its performance is tested in an experimental platform that consists of 2 degrees of the freedom robot manipulator. The proposed controller is compared with a classic proportional derivative plus gravity compensation scheme. The results are analyzed from a frequency perspective and measured by a quadratic error index. |
| first_indexed | 2024-12-16T17:11:43Z |
| format | Article |
| id | doaj.art-0c0538525ff047fd9146864517fefe38 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-16T17:11:43Z |
| publishDate | 2019-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-0c0538525ff047fd9146864517fefe382022-12-21T22:23:23ZengIEEEIEEE Access2169-35362019-01-017139891399810.1109/ACCESS.2019.28924148610222Proportional Retarded Control of Robot ManipulatorsMario Ramirez-Neria0Gilberto Ochoa-Ortega1https://orcid.org/0000-0002-6572-6238Alberto Luviano-Juarez2Norma Lozada-Castillo3Miguel Angel Trujano-Cabrera4Juan Pablo Campos-Lopez5Departamento de Mecatrónica, Universidad Tecnológica de México, UNITEC Campus Atizapán, Atizapán de Zaragoza, MexicoDepartamento de Mecatrónica, Universidad Politécnica del Valle de México, Tultitlán de Mariano Escobedo, MexicoInstituto Politécnico Nacional-UPIITA, Mexico City, MexicoInstituto Politécnico Nacional-UPIITA, Mexico City, MexicoDepartamento de Mecatrónica, Universidad Politécnica del Valle de México, Tultitlán de Mariano Escobedo, MexicoDepartamento de Mecatrónica, Universidad Politécnica del Valle de México, Tultitlán de Mariano Escobedo, MexicoIn the present contribution, a methodology to solve the tracking control problem of robot manipulators through the use of a Proportional Retarded plus Gravity (PR+G) compensation scheme is presented. The main advantage of the proposal is to avoid the necessity of velocity measurements or their estimation, which is commonly used in most control schemes, such as the proportional derivative-type controllers or the computed torque control. The design of the PR+G controller is addressed via σ-stability analysis and its performance is tested in an experimental platform that consists of 2 degrees of the freedom robot manipulator. The proposed controller is compared with a classic proportional derivative plus gravity compensation scheme. The results are analyzed from a frequency perspective and measured by a quadratic error index.https://ieeexplore.ieee.org/document/8610222/Manipulator robottime-delay controllertrajectory tracking |
| spellingShingle | Mario Ramirez-Neria Gilberto Ochoa-Ortega Alberto Luviano-Juarez Norma Lozada-Castillo Miguel Angel Trujano-Cabrera Juan Pablo Campos-Lopez Proportional Retarded Control of Robot Manipulators IEEE Access Manipulator robot time-delay controller trajectory tracking |
| title | Proportional Retarded Control of Robot Manipulators |
| title_full | Proportional Retarded Control of Robot Manipulators |
| title_fullStr | Proportional Retarded Control of Robot Manipulators |
| title_full_unstemmed | Proportional Retarded Control of Robot Manipulators |
| title_short | Proportional Retarded Control of Robot Manipulators |
| title_sort | proportional retarded control of robot manipulators |
| topic | Manipulator robot time-delay controller trajectory tracking |
| url | https://ieeexplore.ieee.org/document/8610222/ |
| work_keys_str_mv | AT marioramirezneria proportionalretardedcontrolofrobotmanipulators AT gilbertoochoaortega proportionalretardedcontrolofrobotmanipulators AT albertoluvianojuarez proportionalretardedcontrolofrobotmanipulators AT normalozadacastillo proportionalretardedcontrolofrobotmanipulators AT miguelangeltrujanocabrera proportionalretardedcontrolofrobotmanipulators AT juanpablocamposlopez proportionalretardedcontrolofrobotmanipulators |